Electromagnetic scanning imager

ABSTRACT

In one aspect, the present invention provides an imager, preferably portable, that includes a source of electromagnetic radiation capable of generating radiation with one or more frequencies in a range of about 1 GHz to about 2000 GHz. An optical system that is optically coupled to the source focuses radiation received therefrom onto an object plane, and directs at least a portion of the focused radiation propagating back from the object plane onto an image plane. The imager further includes a scan mechanism coupled to the optical system for controlling thereof so as to move the focused radiation over the object plane. A detector optically coupled to the lens at the image plane detects at least a portion of the radiation propagating back from a plurality of scanned locations in the object plane, thereby generating a detection signal. A processor that is in communication with the detector generates an image of at least a portion of the object plane based on the detection signal.

RELATED APPLICATION

The present invention claims priority to a provisional applicationentitled “Electro-magnetic Scanning Imager,” filed on Feb. 15, 2005 andhaving a Ser. No. 60/653,228, which is herein incorporated by reference.

BACKGROUND

The present invention relates generally to imaging systems, and methodsof imaging, and more particularly, to such systems and methods that canbe utilized to acquire images of objects hidden behind visibly opaqueobstructions.

A variety of conventional systems are available for obtaining imagesthrough visibly opaque materials. For example, X-ray systems have beenutilized to acquire images of objects that are hidden from visualinspection by visibly opaque materials (e.g., anatomical structures orobjects within a luggage). X-ray systems, however, have manydisadvantages. By way of example, such systems can be expensive andbulky, and can utilize ionizing radiation that may pose health hazardsto humans. Moreover, X-ray systems typically detect a beam that has beentransmitted through a target sample, thus requiring access to both sidesof the target.

Ultrasound imaging systems, in turn, require the presence of acontinuous, high quality acoustic transmission path between a transducerand a “hidden” object of interest. In many cases, however, such acoustictransmission paths may be not be available.

Millimeter-wave imaging systems have recently been developed forsecuring screening applications. Such conventional millimeter-wavesystems are, however, complex, costly and bulky.

Accordingly, there is a need for enhanced imaging systems and associatedimage acquisition methods for obtaining images of objects behind visiblyopaque obstructions, e.g., images of interiors of walls/floors/ceiling,boxes, suitcases and the like. There is also a need for such imagingsystems that are field portable. Further, there is a need for suchsystems and methods that can be utilized for screening luggage and othercontainers for hazardous substances, e.g., explosive materials anddevices.

SUMMARY

The present invention generally provides imaging systems operating in afrequency range of about 1 GHz to about 2000 GHz that allow acquiring,and displaying, images of objects, and particularly of objects that arehidden from view by visibly opaque materials.

In one aspect, the present invention provides an imaging system thatincludes a source of electromagnetic radiation that is capable ofgenerating radiation with one or more frequencies in a range of about 1GHz to about 2000 GHz (one or more wavelengths in a range of about 0.015mm to about 30 mm). The imaging system further includes an opticalsystem that is optically coupled to the source so as to focus radiationreceived therefrom onto an object plane. The optical system directs atleast a portion of the focused radiation propagating back from theobject plane onto an image plane. A scan mechanism is coupled to theoptical system for controlling thereof so as to move the focusedradiation over the object plane. A detector, which is optically coupledto the optical system at the image plane, detects at least a portion ofthe radiation propagating back from a plurality of scanned (illuminated)locations in the object plane, thereby generating a detection signal(typically a time-varying signal). And a processor, which is incommunication with the detector, generates an image of at least aportion of the object plane based on the detection signal.

The terms “object plane” and “image plane” are known in the art. To theextent that any further explanation may be needed, the term “objectplane” can refer to plane—which can contain one or more surfaces (orsurface portions) of one or more objects—whose image is desired. And theimage plane can refer to a plane on which the image of the object plane(or a portion thereof) is formed, e.g., the surface of a detector. Insome cases, the object and image planes can have not only atwo-dimensional extent but also a depth, e.g., one associated with depthof focus of the radiation on the object plane.

A variety of radiation sources and detectors can be employed. Someexamples of suitable radiation sources include, without limitation, Gunnoscillators, magnetrons, IMPATT diodes, Dielectric Resonator Oscillators(DROs), and MIMICs. Some examples of suitable detectors include, withoutlimitation, various types of circuitry incorporating a non-linear devicesuch as a schottky diode. In some cases, the radiation source and thedetector are formed as a single transmit/receive module operating in thefrequency range of interest. By way of example, a Gunnplexer canfunction as such a transmit/receive unit.

In a related aspect, the imager further includes a position sensorcoupled to the scan mechanism for determining a position thereofrelative to a reference position. The position sensor is incommunication with the processor to communicate the position of the scanmechanism, and consequently the location of the focused radiation on theobject plane, to the processor. The processor, in turn, maps variationsof the detection signal to one or more respective locations in theobject plane from which the back-propagating radiation giving rise tothe detection signal originates. The processor utilizes this mapping togenerate an image of at least a portion of the object plane illuminatedby the radiation.

In another aspect, the imager includes a display in communication withthe processor for displaying an image of at least a portion of theobject plane generated by the processor. By way of example, theprocessor can apply image drive signals to the display to cause displayof a plurality of pixels, each corresponding to a location on the objectplane, where the intensity of each pixel is proportional to the strengthof the back-propagating radiation originating from that location.

In a related aspect, the scan mechanism can be adapted to cause theoptical system to generate a variety of radiation scan patterns on theobject plane. Some examples of such patterns include, withoutlimitation, a generally elliptical (e.g., circular) pattern, a spiralpattern, a floret pattern or a raster pattern.

In another aspect, the imaging system is adapted to be moved by a userso as to scan the radiation, in combination with the scan mechanism, intwo dimensions in the object plane. In such a case, the detection signalgenerated by the detector corresponds to back-propagating radiationoriginating from the scanned locations in the object plane. Theprocessor maps variations of the detection signal to those scannedlocations so as to generate an image of a region in the object plane,which includes those locations. Further, for each image point coordinatecorresponding to one of the scanned locations, the display presents, inresponse to image drive signals provided by the processor, a brightnessproportional to a strength of the detection signal corresponding to theback-propagating radiation from that scanned location.

In a related aspect, the imaging system includes means for generatingdata indicative of locations and orientations of the system (e.g.,relative to a reference location/orientation), as it is moved by a user(e.g., over a wall surface) and for communicating that data to theprocessor. Such means can include a variety of sensors, such as trackingballs with orthogonal rotation encoding devices and inertial sensors.The processor utilizes the data for mapping the detection signal to thescanned locations over the object plane.

In some cases, the processor correlates a plurality of partiallyoverlapping image frames to form an image of a portion of the objectplane. By way of example, the processor can utilize one or more pixelsin an overlap region between two image frames as reference fordetermining relative positions of the other pixels in the two imageframes. This process can be repeated for other overlapping regions so asto build an entire image.

In another aspect, the imaging system can comprise a portable housing,preferably handheld, in which various components of the system (e.g.,radiation source, scanner, lens) are disposed. The imaging system cancomprise an electronic processing and display module (EPDM) thatincludes the processor and/or the display. The EPDM can be integratedwithin the portable housing containing the other optical components, orcan be contained within a separate enclosure that is in communicationwith the portable housing.

In another aspect, the imaging system comprises a focus drive mechanismcoupled to the optical system for varying an axial distance between theoptical system and the transmit/receive module so as to focus theradiation at a plurality of axially separated object planes. In someembodiments, the source is capable of being frequency tuned (e.g., via atuning mechanism) so as to allow focusing the radiation via alongitudinal chromatic aberration of the optical system onto axiallyseparated object planes.

In a related aspect, in the above imaging system, a position sensor isin communication with the focus drive mechanism for determining an axialposition of the optical system relative to a reference position. Theposition sensor can communicate the optical system's position to theprocessor, which can, in turn, utilize this information to temporallycorrelate a detection signal at a given time to a respective objectplane.

In another aspect, the imaging system includes a mechanism coupled tothe source for modulating its radiation frequency. By way of example,the radiation frequency can be modulated over a range of about 24.1 GHzto about 24.2 GHz (e.g., about 100 MHz). By way of example, themodulation frequency can have an amplitude (i.e., excursion about acenter frequency) that is about 1% of the center frequency.

In other aspects, a portable imager is disclosed that includes a sourcefor generating electromagnetic radiation with one or more frequencycomponents in a range of about 1 GHz to about 2000 GHz. The imagerfurther includes means for directing radiation from the source to anobject plane and for directing at least a portion of the radiationpropagating back from the object plane to an image plane. Further, theimager includes means coupled to the radiation-directing means forcontrolling thereof so as to scan the radiation over at least a portionof the object plane, and means for detecting radiation propagating backfrom a plurality of scanned locations in the object plane and generatinga detection signal. The imager also includes means for analyzing thedetection signal so as to generate an image of at least a portion of theobject plane.

In another aspect, the invention provides an imaging system thatincludes a handheld housing. The housing contains a source ofelectromagnetic radiation, a focusing system, a scan mechanism, adetector and a processor. The source is capable of generating radiationwith one or more frequency components in a range of about 1 GHz to about2000 GHz. The focusing system directs radiation generated by the sourceonto an object plane and directs at least a portion of the radiationpropagating back from the object plane onto an image plane. The scanmechanism is coupled to the focusing system for controlling thereof soas to provide a one-dimensional scan of the radiation over the objectplane. The detector is optically coupled to the focusing system at theimage plane to detect at least a portion of the back-propagatingradiation so as to generate a detection signal (e.g., a time-varyingdetection signal). The processor is coupled to the detector to receivethe detection signal, and to analyze that signal. The housing is adaptedfor movement so as to scan the radiation, in combination with theone-dimensional scan, over a plurality of locations in a two-dimensionalregion of the object plane.

In a related aspect, in the above portable imager, the processorgenerates an image of the two-dimensional region based on the detectionsignals corresponding to the scanned locations. For example, theprocessor maps the detection signals temporally to respective scannedlocations for generating the image. The imager can further include adisplay, mounted to the housing or remotely located, that is incommunication with the processor for displaying the image.

In another aspect, the invention provides an imaging system thatcomprises a transmit/receive module capable of generating and detectingelectromagnetic radiation having one or more frequency components in arange of about 1 GHz to about 2000 GHz. An optical system is coupled tothe transmit/receive module for focusing the radiation onto a focalplane and for directing a portion of the radiation propagating back fromthe focal plane to that module for detection. The imaging system furtherincludes a drive mechanism coupled to the optical system for varying anaxial distance of a focusing element thereof relative to thetransmit/receive module so as to axially vary a position of the focalplane. The transmit/receive module generates a detection signalcorresponding to the radiation propagating from the varying focal plane.A processor is coupled to the transmit/receive module to analyze thedetection signal for generating an image of an axial region over whichthe focal plane is varied.

In a related aspect, in the above imager, the position sensor is coupledto the drive mechanism for determining an axial position of the focusingelement relative to a reference position. The position sensorcommunicates the information regarding the focusing element's axialposition to the processor. The processor, in turn, analyzes thedetection signal temporally as a function of the focusing element'saxial position so as to map the detection signal at a plurality of timeintervals to the axial locations of the focal plane. The imager can alsoinclude a scan mechanism coupled to the focusing element for scanningthe radiation over a surface of the focal plane substantiallyperpendicular to the axial direction, and a scan position sensor thatcan determine the position of the scan mechanism relative to areference. The processor analyzes the detection signal temporally as afunction of the focusing element's axial position so as to map thedetection signal at a plurality of time intervals to axial locations ofthe focal plane. Further, the processor can employ information from thescan position sensor to correlate detection signal originating from afocal plane to various coordinate points within that plane.

In another aspect, an imaging system is disclosed that includes ahousing adapted for movement over a surface located at a distance froman object plane. A transmit/receive module (e.g., a Gunnplexer) disposedin the housing generates and detects electromagnetic radiation. Theimaging system further includes an optical system that is opticallycoupled to the transmit/receive module to focus radiation receivedtherefrom onto the object plane, and to direct at least a portion of theradiation propagating back from the object plane onto thetransmit/receive module. A scanning system coupled to the optical systemrotates a focusing element thereof about a rotation axis, thereby movingthe focused radiation over a region of the object plane. The imagingsystem further includes a position sensor in communication with thescanning mechanism to generate signals indicative of the position of thefocusing element relative to a reference position. And a subsystemdisposed in the housing generates signals indicative of location of thehousing on the surface as the housing is moved over that surface. By wayof example, the subsystem can comprise optical or inertial sensors. Theimaging system further includes a processor in communication with thetransmit/receive unit, the position sensor and the location-determiningsubsystem, which generates an image of at least a portion of the objectplane based on the detected back-propagating radiation and signalsgenerated by the position sensor and the subsystem.

In a related aspect, the imaging system can further include a displaythat is in communication with the processor for displaying the image. Insome cases, the optical system and the scanning mechanism, as well asthe processor and the display, are disposed in the same housing. Inother cases, the processor and/or the display can be disposed in aseparate housing.

In a related aspect, the processor generates a set of image pointcoordinates in a coordinate space of the object plane based on signalsreceived from the position sensor coupled to the focusing element andthe location-determining subsystem. Further, the processor applies aplurality of image drive signals to the display to effect the display ofan image corresponding to those image point coordinates. The processorgenerates each image drive signal based on a strength of the detectedback-propagating radiation originating from a location on the objectplane corresponding to one of the image point coordinates. Each imagedrive signal, in turn, causes the presentation of an image point on thedisplay, where the image point exhibits a brightness corresponding tothe strength of the detected signal associated with a respective imagepoint coordinate. The location of a displayed image point in the displayis based on the position of the focusing element and the location of thehousing at a time when back-propagating radiation originating from anobject plane location corresponding to that image point is detected.

In a related aspect, the focusing element in the above imaging systemcomprises a diffractive optical element. In some cases, the diffractiveoptical element can comprise diffractive zones that are disposed aboutan optical axis that is offset from the element's rotational axis, whichcan be substantially centered relative to the emitting aperture of thetransmit/receive module. A variety of diffractive optical elements canbe employed, such as amplitude zone plates and phase zone plates. Whilein some cases, the optical and rotational axes of the focusing elementare substantially parallel, in other cases, they can intersect at theaperture of the transmit/receive module.

In a related aspect, the emitting aperture of the transmit/receivemodule, the focusing element, and the focused radiation in the objectplane generated by the focusing element are disposed in a confocalconfiguration.

In another aspect, the transmit/receive module comprises afrequency-modulating subsystem for modulating the frequency of theemitted radiation in response to a control signal.

In other aspects, an imaging system is disclosed that includes atransmit/receive module for generating and detecting electromagneticradiation. The system further includes a telecentric lens system thatreceives and focuses the radiation onto an object plane. The lens systemcan comprise an eccentric rotatable lens disposed at a selected distancefrom a fixed lens. Further, the lens system directs radiationpropagating back from the object plane onto the transmit/receive modulefor detection. A scanning mechanism is coupled to the rotatable lens forrotating the lens about a rotation axis, thereby moving the focusedradiation in the object plane. The imaging system further includes aprocessor coupled to the transmit/receive module for generating an imageof at least a portion of the object plane, which is illuminated by theradiation, based on the detected back-propagating radiation.

In a related aspect, the eccentric lens is disposed at a distancesubstantially equal to its focal length from the emitting aperture ofthe transmit/receive module. The eccentric lens collimates radiationreceived from the transmit/receive module and directs the collimatedradiation along an off-axis direction to the fixed lens. The fixed lens,in turn, focuses the off-axis radiation onto the object plane.

In another aspect, the invention provides a method of imaging thatincludes providing a source of electromagnetic radiation that is capableof generating radiation with one or more frequency components in a rangeof about 1 GHz to about 2000 GHz. The radiation is focused from thesource onto an object plane, and the focused radiation is scanned overat least a portion of the object plane. At least a portion of theradiation propagating back from the object plane is detected, therebygenerating a detection signal, which is typically a time-varying signal.The detection signal is analyzed to form an image of the scanned portionof the object plane. The image can then be displayed.

Further understanding of various aspects of the invention can beobtained by reference to the following detailed description, inconjunction with the associated drawings, which are described brieflybelow.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically depicts an imaging system according to oneembodiment of the invention,

FIG. 2 schematically illustrates a wire grid polarizer suitable for usein the imaging system of FIG. 1 and other embodiments of the invention,

FIG. 3 schematically depicts a Fresnel lens having a plurality ofdiffractive zones,

FIG. 4 is a top schematic view of a Binary Fresnel Lens (BFL) suitablefor use in the imaging system of FIG. 1 as well as other embodiments,

FIG. 5 is a perspective schematic view of a quarter-wave plate (QWP)suitable for use in the imaging system of FIG. 1 as well as otherembodiments,

FIG. 6 schematically depicts a scanning mechanism suitable for rotatingthe lens of the imaging system of FIG. 1 as well as lenses utilized inother embodiments,

FIG. 7 schematically illustrates a circular scan pattern of radiationdirected by an embodiment of an imaging system according to theinvention onto an object plane,

FIG. 8 schematically depicts a swath over an object plane illuminated byradiation from an imager according to an embodiment of the invention viarotation of a lens and concurrent translation of the imager over asurface substantially parallel to the object plane,

FIG. 9 schematically illustrates that in some embodiments an imageraccording to teachings of the invention is operated at a selected tiltangle relative to a scanning plane over which it is translated,

FIG. 10 schematically depicts a method of correlating pixels from aplurality of image frames acquired by an imager of the invention tobuild up an entire image,

FIG. 11 schematically depicts a front view of an imager according to anembodiment of the invention having a display in which an image acquiredby the imager is presented,

FIG. 12 schematically depicts an imager according to another embodimentof the invention,

FIG. 13A schematically depicts a Gunnplexer suitable for use as atransmit/receive unit in an imager of the invention,

FIG. 13B schematically depicts further details of the Gunnplexer shownin FIG. 13A,

FIG. 14 schematically depicts the transmit/receive unit as well as thelens of the embodiment of FIG. 12, illustrating that the rotation axisof the lens is offset relative to its optical axis,

FIG. 15 is a schematic view of an imager according to an embodiment ofthe invention operating in a snapshot mode,

FIG. 16A schematically illustrates a spiral radiation pattern generatedby some embodiments of the invention for illuminating an object plane inorder to acquire a two-dimensional image thereof,

FIG. 16B schematically depicts a floret radiation pattern generated bysome embodiments of the invention for illuminating an object plane inorder to acquire a two-dimensional image thereof,

FIG. 16C schematically depicts a raster radiation pattern generated bysome embodiments of the invention for illuminating an object plane inorder to acquire a two-dimensional image thereof,

FIG. 17 schematically depicts a mechanism for two-dimensional scanningof a radiation beam, which is suitable for use in some embodiments ofthe invention,

FIG. 18 schematically depicts an imager according to another embodimentof the invention capable of generating images of a plurality of axiallyseparated object planes,

FIG. 19 schematically illustrates a lens focus-drive mechanism suitablefor use in the embodiment of FIG. 18,

FIG. 20 schematically depicts an imager according to another embodimentof the invention that utilizes chromatic aberration of a lens forfocusing radiation on a plurality of axially separated object planes,

FIG. 21 schematically illustrates an imager according to anotherembodiment of the invention that employs a telecentric arrangement ofoptical components for acquiring an imager, and

FIGS. 22A-22E show test images obtained by utilizing a prototype imageconstructed in accordance with the teachings of the invention.

DETAILED DESCRIPTION

FIG. 1 schematically depicts an imager 10 (also referred to herein as acamera) according to one embodiment of the invention having a source 12and a detector 14 for generating and detecting radiation, respectively.In this exemplary embodiment, the radiation source 12 is capable ofgenerating radiation having one or more frequencies in a range of about1 to about 2000 GHz, and preferably in a range of about 2 GHz to about100 GHz. In many embodiments, one or more radiation frequencies areselected such that the radiation can penetrate an obstruction (e.g., awall) that is generally opaque to visible radiation. Some examples ofsuitable radiation sources include, without limitation, Gunnoscillators, magnetrons, IMPATT diodes, Dielectric Resonator Oscillators(DROs), MIMICs, or other suitable radiation sources. A horn antenna 16is coupled to the source so as to facilitate coupling the radiationgenerated by the source into free space (e.g., by providing a betterimpedance match) for propagation to an object to be imaged, as discussedfurther below. In this embodiment, the source, in conjunction with thehorn, generates a diverging cone of radiation beam 18 disposed about apropagation axis 20 (herein also referred to as a rotational axis).Similar to the source, a horn 22 is coupled to the detector tofacilitate coupling of radiation into the detector. In general, thecombination of the detector 14 and its associated horn 22 is capable ofreceiving radiation beams disposed about a detector axis 24 with a givenangular distribution that depends at least in part on the horn geometry.

In this embodiment and some that follow, without any loss of generality,the functioning of the imagers according to the teachings of theinvention are discussed by considering acquiring images within a depthof a wall (or other obstructions) that is opaque to visible radiation.Such imagers can, however, be also utilized to acquire images of otherobjects. For example, the imaging systems of the invention can beutilized to image objects within containers.

The source 12 and the detector 14 are disposed on opposite sides of abeam splitter 23 such that the propagation axis 20 associated with thesource and the detection axis 24 associated with the detector typicallyintersect at an approximately 90-degree angle. The beam splitter 23 isperpendicular to a plane formed by the propagation and the detectionaxes and is oriented such that a normal to its surface bisects the anglebetween those axes, e.g., it typically forms a 45-degree angle with eachof those axes. The radiation emitted by the source passes through thebeam splitter to be directed by other optical components onto a regionof interest, as discussed below.

By way of example, the beam splitter 23 can be preferably implemented asa polarizing beam splitter having a polarization axis that is preferablyoriented either parallel or perpendicular to a plane defined by thepropagation and detection axes. In some embodiments, a so-called wiregrid polarizer (WGP) is employed, which can be made, e.g., of aone-dimensional array or grid of very fine parallel electricallyconductive elements disposed upon a suitable transparent base materialor, e.g., by a grid of fine parallel wires strung on a frame. By way ofexample, FIG. 2 schematically depicts a wire grid polarizer 26 formed ofa plurality of aluminum strips 28 disposed over a dielectric substrate30 (e.g., a Teflon™ substrate). The spacing between adjacent parallelconductive elements is selected to be considerably less than theradiation wavelength generated by the source 12. This allows thecomponent of the radiation having an electric field vector parallel tothe grid elements to be reflected by the polarizer and the componenthaving an electric field vector perpendicular to the grid elements to betransmitted through the polarizer. In this exemplary embodiment, eachstrip can have a width in a range of about 1/100^(th) wavelength toabout ¼ wavelength, e.g., about 2 millimeters, and can be separated froman adjacent strip by a spacing in a range of about 1/100^(th) wavelengthto about ¼ wavelength, e.g., about 2 millimeters.

Referring again to FIG. 1, the imager 10 further includes a lens 32 thatreceives the radiation emitted by the source 12 after its passagethrough the polarizer 23. The lens 32 can have, e.g., a receiving coneof the order of f/1 or narrower. By way of example, the lens 32 can be adecentered optical element configured to operate, e.g., at approximatelyunity magnification. In some embodiments of the invention, the lens canbe a diffractive lens having a diffractive pattern whose symmetry axis(optical axis) is laterally offset from its physical symmetry axis. Forexample, the lens can be a Binary Fresnel Lens (BFL) whose optical axisis offset laterally from its physical symmetry axis. As shownschematically in FIG. 3, an exemplary Fresnel lens 34 can include aplurality of diffractive zones 34 a separated from one another by stepsat each of which a phase discontinuity is generated in a manner thatresults in coherent interference of radiation passing through thedifferent zones at a focal plane of the lens. In other words, thesurface shape of a Fresnel lens can be viewed as a piece-wiseapproximation to the surface shape of a conventional refractive lens,e.g., such as that depicted by dashed lines. Further, a BFL can beviewed as a Fresnel lens in which each section of the approximation isfurther approximated by a staircase profile.

In some embodiments of the invention, the BFL includes four steps eachproviding a ¼-wave phase delay. By way of example, FIG. 4 schematicallydepicts a BFL 35 suitable for use in various embodiments of theinvention having a plurality of diffractive zones 35 a disposed about anoptical axis that is laterally offset from its physical center. In otherwords, an axis of symmetry of the diffractive pattern (perpendicular tothe plane of the drawing at point B) is separated by a selected offset Dfrom a physical symmetry axis of the lens (perpendicular to the plane ofdrawing at point A). In some embodiments, the BFL includes a diameter R(e.g., about 8 inches) and a focal length in a range of about 2 inches(about 5 cm) to about 10 inches (about 25 cm), e.g., about 8 inches(about 20.3 cm), with an optical axis offset in a range of about 1 inch(about 2.5 cm) to about 3.5 inches (about 8.9 cm), and more preferablyabout 2 inches (about 5 cm). As discussed in more detail below, theoffset between the physical and the optical axis of the BFL 35 allowsscanning the focal point of the lens about a generally elliptical path(e.g., a circular path) by rotating the lens about its physical axis.

Referring again to FIG. 1, in this exemplary embodiment, the imager 10further includes a ¼-wave plate (QWP) 36 that is adapted to operate in afrequency range of interest (e.g., in a frequency range of about 1 GHzto about 2000 GHz). The QWP 36 is disposed in the path of the radiationbetween the polarizing beam splitter and an object to be imaged. Whilein this embodiment the QWP is placed between the lens and a wall 56, inother embodiments, the QWP can be disposed between the polarizing beamsplitter and the lens, typically closer to the beam splitter at alocation where the radiation beam diameter is relatively small.

In some embodiments, the QWP 36 can be implemented as a grooveddielectric plate, such as that schematically depicted in FIG. 5. Forexample, the QWP 36 can be fabricated by machining a plurality ofgrooves on a dielectric plate (e.g., a Teflon™ plate). The plate canhave a thickness in a range of about 5 millimeters to about 80millimeters, and the grooves can have a depth in a range of about 4millimeters to about 70 millimeters and a width in a range of about1/100^(th) wavelength to about ¼ wavelength of the radiation. Further,the center-to-center spacing between adjacent grooves can be in a rangeof about 0.1 millimeters to about 3 millimeters. The theory of operationof QWPs suitable for use in the frequency range of interest and typicaltechniques for their fabrication are described in an article entitled “Ahigh precision quasi-optical polarizer for Zeeman splittingobservation,” by J. W. Lamb, M. Carter, and F. Mattiocco, published inInt. J. Infrared and Millimeter Waves, vol. 22, No. 5 (May 2001),incorporated herein by reference.

In this exemplary embodiment, the QWP 36 is disposed perpendicular tothe propagation axis of radiation from the source 12 with its fast axispreferably oriented at +/−45 degrees from the plane of polarization ofthe outgoing radiation. As is well known in the art, linearly polarizedradiation passing through a QWP oriented in this manner emerges from theQWP as substantially circularly polarized.

The imager 10 further includes a scan mechanism 38 coupled to the lens32 for rotating the lens about its rotation axis (herein also referredto as the lens's physical axis). The lens is preferably disposedrelative to the source such that its rotation axis is substantiallycoincident with the propagation axis of the outgoing radiation. As notedabove, an optical axis 40 of the lens is displaced from its rotationaxis by a predetermined distance, e.g., by about ½ of the radius of thelens. The optical axis of the lens can be parallel to its rotation axis,or alternatively, it can intersect the rotation axis at the emittingaperture of the source. As discussed in more detail below, the rotationof the lens 32 allows scanning the radiation at the focal plane of thelens over a path in an object plane.

A variety of scanning mechanisms can be utilized in the practice of theinvention. For example, referring to FIG. 6, a rotating shaft 33, whichis driven by a motor 33 a, can be coupled to the lens to cause the lensto rotate. Referring again to FIG. 1, in many embodiments, the imagerfurther includes a lens scan position sensor 42 for indicating anangular rotation of the lens about the rotation axis relative to apredetermined reference. A variety of commercially available sensors canbe employed. For example, optical sensors can be utilized to determinethe angular position of the lens. An example of a suitable sensor is ashaft encoder that can provide information regarding angular position ofa rotating shaft (such as the rotating shaft depicted in FIG. 6) towhich the lens is coupled. In some embodiments, the lens scan mechanism38 causes the lens to rotate at a substantially constant angularvelocity with the scan position sensor 42 sensing the lens's angularposition once, or more, per revolution using, e.g., a magnet on the edgeof the lens and a fixed Hall effect sensor.

In this exemplary embodiment, various components of the imager, such asthose discussed above, are disposed in a portable, preferably handheldhousing 44. An optional window 46 (e.g., formed of a materialtransparent at the operating wavelength) is coupled to the housing 44through which the radiation generated by the source can be transmittedto illuminate interior portions of the wall, as discussed further below.In other embodiments, no window is provided.

In operation, the lens 32 directs radiation generated by the source 12,after its passage through the beam splitter 23, via the QWP 36 and thewindow 46 into the interior of a wall (or other obstruction, or a regionbehind such an obstruction) to illuminate portions thereof, such as theobject region 48. Preferably, the lens 32 forms an image of the sourceso as to create an illuminating focused point (e.g., an area of maximalradiation intensity) at a distance from the lens that is less thaninfinity and more than one focal length of the lens. In manyembodiments, the radiation from the imager is focused onto an objectplane (e.g., object plane 50) within the wall, and the radiationreturning from that object plane is detected and analyzed to form animage thereof, as discussed in more detail below. In general, the objectplane 50 has an axial extension (a depth) corresponding to the axialextension of the focal volume, as schematically illustrated by volume48, which represents a portion of the object plane.

In this exemplary embodiment, the lens 32 is placed at a distance fromthe source substantially equal to twice its focal length, therebyforming an image of the source at a distance of approximately two focallengths from the lens. Accordingly, the image is displaced radially fromthe rotation axis by twice the displacement of the lens's optical axisfrom the rotation axis. As shown schematically in FIG. 7, in thisembodiment, as the scanner rotates the lens about its rotation axis, theilluminating point of radiation 52 sweeps out a circular path 54 aroundthe rotational axis in the object plane 50 (FIG. 1). As the imager istranslated laterally along an external wall surface 56 (see FIG. 1),e.g., by a user or an automated mechanism, the scan pattern of theilluminating radiation, generated by combined rotation of the lens andtranslation of the imager, covers a swath 58 on the object plane, asshown in FIG. 8.

In some embodiments, it is preferable to operate the imager with a smalltilt angle (e.g., approximately 7 degrees) between a scanning plane(e.g., a plane perpendicular to the lens's rotation axis) and atranslation plane (i.e., the plane over which the imager is translatedto build up an image of an area). For example, as shown schematically inFIG. 9, the imager 10 can be tilted by an angle (θ) relative to the wallsurface 56 as it is translated along the wall. The tilt angle can be inor against direction of the translation. The use of such a tilt canincrease the number of “look angles” the scanner produces (in the tiltplane), thereby increasing the probability of receiving a strongspecular reflection from an illuminated object. In some embodiments,such a tilt is built in the imager, e.g., by disposing the imager'soptical components at a selected tilt angle relative to its housing.

Referring again to FIG. 1, in many embodiments, the imager 10 furtherincludes a plurality of sensors 60 coupled to its housing 44 forindicating the displacement of the housing relative to the wall surface56 on which the imager is translated so as to obtain an image of aninterior portion of the wall. Preferably, the imager can include atleast two such location sensors physically separated such that eachsensor would measure displacement of the housing relative to a startingreference along one of two orthogonal coordinate axes (e.g., twoorthogonal Cartesian coordinates). In general, the displacement of theimager can be obtained by determining three degrees of freedom (e.g.,two translational and a rotational degree of freedom). Each sensor canprovide independent data regarding two degrees of freedom, and hence thecombined data from two sensors is sufficient for determining threedegrees of freedom associated with the translation of the imager overthe wall. A variety of location sensors can be employed. By way ofexample, in some embodiments, each location sensor can be implemented asa tracking ball with orthogonal rotation encoding devices similar indesign and construction to a computer mouse. In other embodiments,inertial sensors can be utilized. It should be understood that locationsensors suitable for use in the practice of the invention are notlimited to these examples, and other sensors (e.g., a variety of opticalsensors) known in the art can also be employed.

As noted above, the combined rotation of the lens and the translation ofthe imager over the wall surface results in illuminating variouslocations within the interior of the wall. As the illuminating radiationimpinges on an object that is not transparent to the radiation, e.g., ametal pipe and/or electrical wiring within the wall, at least a portionof the radiation is reflected or scattered. In the frequency range ofabout 1 to about 2000 GHz, most objects specularly reflect, rather thanscatter, the radiation. Hence, at least some of the radiation incidenton such objects within the wall is reflected back towards the imager,e.g., depending on the “look angle” of the illumination and a normal tothe reflecting surface at the point of illumination. The lens collectsthis back-propagating radiation (or at least a portion thereof), afterits passage through the QWP 36, and directs that radiation, as aconverging radiation beam, to the beam splitter 23. As is known in theart, the passage of the returning radiation, which is circularlypolarized (or at least substantially circularly polarized, as thereflection of the incident radiation may have cause some change in thepolarization) through the QWP results in conversion of its polarizationto linear polarization with a polarization axis normal to that of thelinearly polarized radiation generated by the source. As such, the beamsplitter directs this linearly polarized back-propagating radiation tothe detector 14. In this embodiment, the detector 14 operates inheterodyne mode, that is, it mixes the returning radiation withradiation from a local oscillator 62 to generate an intermediatefrequency (IF) electrical signal whose strength is proportional to theintensity of the returning radiation and whose lower frequency can bemore readily processed by electronics circuitry. A variety of detectorsand local oscillators can be employed. For example, in some embodiments,a receive diode of a Gunnplexer can be employed as the detector. In someother embodiments, a small portion of the transmit oscillator power canact as an oscillator for the receiver. In such a case, a singleoscillator can be used for microwave emission as well as detection.

The detector 14 transmits the electrical signal generated in response todetection of the returning radiation to a digital data processor 64. Thedigital data processor is also in communication with the scan positionsensor 42 and the location sensors 60 to receive information regarding,respectively, the angular rotation of the lens (herein also referred toas A(t)) and the location of the imager on the wall surface (herein alsoreferred to as P₁(t) and P₂(t), where P₁ (t) denotes the informationfrom the first location sensor 60 and P₂(t) denotes the information fromthe second location sensor 60). The digital data processor employs thereceived data to map the time-varying detection signal to a plurality ofrespective locations on the object plane from which the back-propagatingradiation originates. More specifically, the electrical signal, hereinalso referred to as I(t), is typically a time-varying signal whosestrength at any instant is proportional to the intensity of thereturning radiation detected by the detector 14 at that time. Theintensity is related to the reflecting properties of the object that isat that time at the location where the illuminating radiation isdirected. It will be understood by those familiar with the art ofscanning image sensing that signal I(t) varies as a function of timebecause the lens is scanning the radiation in time over the objectspace. That is,I(t)=I[x(t),y(t)],where x(t), and y(t) define the instantaneous position of theilluminating radiation in the object plane. In the remaining equations,the time dependence is dropped for convenience.

Digital data processor 64 transforms/inverts, and combines, themeasurement A, P₁(xy), and P₂(x,y) to generate x and y. In the exemplaryembodiment of FIG. 1, location sensors 60 measure the rigid body x- andy-displacement of the imager body relative to an arbitrary startinglocation and the scan position sensor measures the angular position ofthe lens, known to be offset from the axis of rotation by a fixeddistance (e.g., d) relative to the frame of reference of the imagerhousing. This can be expressed as:X _(r) =d cos(A), andY _(r) =d sin(A)where X_(r) and Y_(r) are the x and y coordinates of the lens relativeto the axis of rotation in the frame of reference of the imager housing,and d is the off-axis distance to the imager spot.

Similarly, X_(h), Y_(h), and θ_(z) coordinates of the imager housing canbe calculated from P₁ and P₂, where it is understood each of P₁ and P₂comprises an x- and a y-measurement (x₁, y₁; x₂, y₂). For example, ifthe location sensor P₁ is selected as the housing reference point, thenX_(h) = x₁, Y_(h) = y₁,  and$\theta_{z} = {\arctan\left\lbrack \frac{y_{2} - y_{1}}{x_{2} - x_{1}} \right\rbrack}$where θ₀ is the initial angle relative to the x-axis passing through P₁of the line connecting P₁ with P₂.

Finally, the position of the imaging spot can be calculated by addingthe following three vectors: (1) a vector representing the rigid bodydisplacement of the housing, (2) the position of the axis of rotationrelative to the housing reference point, and (3) the displacement of theimage point due to the angular rotation of the lens. More specifically,x and y can be obtained by employing the following relations:x=x ₁ +D[cos θ_(z) cos θ₀−sin θ_(z) sin θ₀ ]+d cos A, andy=y ₁ +D[cos θ_(z) sin θ₀+sin θ_(z) cos θ₀ ]+d sin A,where D is the distance between P₁ and the axis of rotation.

The processor 64 is also adapted to generate image position drivesignals suitable for application to an image display 66. The imageposition drive signals cause the display of a plurality of image points,each having a brightness that corresponds to the detected signalstrength from a respective coordinate point in the object plane. Inoperation, a complete image is built up on the imaging display 66 as theimager's housing in moved over the wall surface (or in proximitythereof) while the imager's lens is rotated to scan the beam over aninterior swath of the wall.

In some embodiments, relative locations of the pixels in an imageobtained by combined rotation of the lens and translation of the imagerare determined by acquiring a plurality of partially overlapping imageframes, and tracking one or more pixels in the overlap regions. By wayof example, FIG. 10 schematically depicts two image frames 11 and 13that include an overlap region 15. At least one of the pixels in theoverlap region (e.g., pixel A first observed in the image frame 11 andthen repeated in a subsequent image frame 13) can then be utilized as areference pixel to determine the relative locations of other pixels inthe image frame 11 (e.g., pixels C, D and E) to those in image frame 13(e.g., pixels F, G, H and I). The same process can be repeated foranother image frame (not shown) that partially overlaps the image frame13. In this manner, the relative locations of pixels in an imageconstructed by assembling a plurality of image frames can be determined.

By way of example and only for illustrative purposes, FIG. 11schematically depicts an exemplary image 68 of an interior portion ofthe wall scanned by the imager 10, which is presented in the imager'sdisplay 66. This exemplary image depicts a pipe 70 and a plurality ofelectrical wires 72 disposed within a depth of the wall. The imager canalso provide images of other objects within the wall, such as, termites,water leaks, etc. In fact, any object that is sufficiently reflective(or scattering) at the interrogating radiation wavelengths can beimaged.

Although in the above embodiment, the processor 64 and the display 66are housed within a single housing with the other components of theimager, in other embodiments, the processor and/or the display can bedisposed in a separate housing. In embodiments in which theprocessor/display are disposed in a separate enclosure, one or morecommunications channels can be provided to allow the processor and/ordisplay to communicate with one or more imager components disposed inanother enclosure. In some cases, the communications channels employwireless channels that utilize known wireless protocols.

The implementation of an imager according to the teachings of theinvention is not limited to the embodiment described above. In fact,such as imager can be implemented in a variety of different ways. Forexample, FIG. 12 schematically depicts an electromagnetic scanningimager 74 according to another embodiment of the invention that includesa head 76 containing a source of electromagnetic radiation 78 capable ofgenerating radiation with one or more frequency components in a range ofabout 1 GHz to about 2000 GHz. In this embodiment, the source iscombined with a detector of electromagnetic radiation capable ofdetecting radiation having the same frequency as that generated by thesource. Such combined source/detector units are known the art, and arecommonly referred to as transmit/receive (or transceiver) units. Asshown schematically in FIGS. 13A and 13B, an example of a suitabletransmit/receive unit is a Gunnplexer 80, which includes a Gunn diode 82for generating radiation (it functions as the transmitter of the unit)and a receiver diode 84 for detecting the radiation (it functions as thereceiver of the unit). A circulator 86 (e.g., a ferrite circulator)isolates the transmitter and receiver functions. A horn 88 facilitatescoupling of radiation out of and into the Gunnplexer. The Gunnplexer canfurther include a tuning varactor diode 90, typically mounted close tothe Gunn diode, for electrically varying (tuning) the outgoing radiationfrequency. For example, the varactor can deviate the fundamentalfrequency (e.g., by about 60 MHz) when a proper tuning voltage isapplied thereto. Gunn diode oscillators, which convert dc signals to RFenergy, are available, e.g., at specific preset operating frequencies.The Gunnplexer can also include a Schottky mixer (not shown). The Gunndiode can function simultaneously as a transmitter and a localoscillator with a portion of its energy—in one configurationapproximately 0.5 mW—being coupled to the mixer. The mixer can providean intermediate frequency (IF) output that can be amplified by an IFpre-amplifier 81 and an IF amplifier 83.

Referring again to FIG. 12 as well as FIG. 14, similar to the previousembodiment, the imager 74 further includes a lens 92 that is opticallycoupled to the transmit/receive unit 78 to form an image of theradiation generated by that unit in the general vicinity of an objectregion 94 of interest, which is typically located behind a visiblyopaque material 96, e.g., the surface of a wall, floor or a ceiling. Thelens 92 can be a transmissive, diffractive element (e.g., a zone plate)disposed relative to the source at a distance, e.g., greater than—buttypically less than three times—its focal length. Generally, the lens 92forms an image of the transmit/receive unit (an image of radiationgenerated by that unit) at a distance of less than infinity and morethan one focal length from the lens, on the side of the lens away fromthe source. Alternatively, the lens can be reflective zone plate, inwhich case the image of source generated by the lens and the sourceitself are on the same side of the lens. As known in the art, a zoneplate can be implemented as a magnitude zone plate (i.e., alternatingregions of high transmission/reflection and regions of lowtransmission/reflection), or as a phase zone plate (e.g., alternatingregions imparting zero or 180 degrees of relative phase shift toincident radiation).

The lens 92 is rotated about a rotation axis (illustrated as RA) by ascan mechanism 108, such as those discussed above in connection with theprevious embodiment. Similar to the previous embodiment, an optical axis(OA) of the lens 92 is displaced relative to its rotation axis by aselected distance, e.g., about one-half the lens's radius. The rotationaxis is generally centered on the emitting aperture of thetransmit/receive unit 78 parallel to general direction of propagation ofthe radiation (parallel to the central ray of a cone-like bundle ofrays). The optical axis can be parallel to the rotation axis, or mayform a non-zero angle with the rotation axis so as to intersect thataxis at the emitting aperture of the transmit/receive unit. The rotationof the lens causes the image of the source, generated by the lens, toscan a selected path (e.g., a generally circular path) over an objectplane, in a manner similar to that discussed above in connection withthe previous embodiment.

In some embodiments, the emitting aperture of the transmit/receive unit78, the lens 92, and the image of the emitting aperture are preferablydisposed in a confocal configuration. That is, the illuminatingradiation is focused onto a small region in a plane of interest (e.g.,the object plane), and the reflected (or scattered) radiation reachingthe detector (the transmit/receive module in this case) is limited tothose rays that originate from the illuminated region. In someembodiments, such a confocal imaging system is employed to reject straylight by utilizing, for example, two strategies: (1) by illuminating asingle point (small area) at any given time with a focused beam suchthat the focused intensity drops off rapidly at axial locations awayfrom that plane of focus (e.g., in front or behind that plane), and (2)by utilizing a blocking or a pinhole aperture, or a point detector, in aconjugate receiver plane so that light reflected (or scattered) from theilluminated object region is blocked from reaching the detector.

With continued reference to FIGS. 12 and 14, the combined rotation ofthe lens and translation of the imager's head over a surface of theobstruction 96 (e.g., a wall) can result in illuminating a region ofinterest behind the surface (e.g., an interior region of a wall). Atleast a portion of the illuminating radiation is reflected (orscattered) back toward the lens. The lens collects the radiationpropagating back (e.g., via reflection) from the illuminated region andfocuses the collected radiation onto the transmit/receive unit 78,which, functioning as a detector, converts the back-propagatingradiation into an output electrical signal.

The output electrical signal is communicated, e.g., via a communicationchannel 100, to an electronic processor 102 (e.g., a digital dataprocessor), disposed in an electronic processing and display module(EPDM) 104. While in this embodiment the EPDM is contained in a separatehousing, in other embodiments, it can be integrated with the head 76within a single housing. The processor 102 includes a signal processingmodule that is adapted to convert the output signal generated by thetransmit/receive unit 78 into image strength drive signals suitable forapplication to an image display 106.

In addition to communicating with the detector, the processor 102 isalso electrically coupled to a scan position sensor 110, e.g., via acommunications channel 112, that can sense the position of the scanmechanism, and thereby that of the lens 92, relative to a predeterminedreference position. A variety of scan position sensors, such as thosediscussed above, can be employed. The position sensor communicates theinformation regarding the position of the lens to the processor.

Similar to the previous embodiment, the imager 74 further includes abody location-determining subsystem 114 for determining the rigid bodylocation of the head 76 on a surface (e.g., wall surface) over which itis moved to build up an image of a region behind the surface. Thesubsystem 114 can be in optical and/or mechanical communication with asurface over which the imager is translated. Typically, the subsystem114 estimates the location and orientation of the head 76 via threeparameters “X_(h)”, “Y_(h)” and “θ_(Z)”, where X, Y and Z denoteorthogonal Cartesian coordinates. The X and Y denote coordinates in aplane (e.g., a planar surface of a wall over which the head istranslated) and θ_(Z) denotes an angle about the Z-axis that isperpendicular to that plane. By way of example, the origin of thecoordinates can be established as the location and orientation of theimager upon its initial placement on the plane. This can be doneautomatically or by a user-issued command (which can also be employed toreset the location of the origin, if desired). The location-determiningsubsystem can then determine subsequent locations and orientations ofthe imager relative to the origin. A number of location-determiningsubsystems can be utilized. For example, in some embodiments, thesubsystem can comprise two computer-mouse sensing mechanisms, separatedby a known base line. Alternatively, the subsystem can be implemented byemploying a plurality of inertial sensors.

The location-determining subsystem 114 transmits signals indicative ofthe location of the imager's head to the processor 102, e.g., via acommunications channel 116. The processor utilizes these signals,together with those transmitted by the lens position sensor, to generatea set of image point coordinates in the coordinate space of the objectregion. The processor further correlates these image coordinates to thetime-variation of the signal received from the detector to generate areflectance image of the illuminated portion. In addition, the processorderives image position drive signals, based on the image coordinates andintensity of reflected signals originating from those coordinates, forapplication to the display 106. The image drive signals cause thedisplay to present an image in which the brightness of an image pointcorresponds to the intensity of the detected reflected radiationoriginating from a coordinate point (e.g., an area or voxel in vicinityof that point) mapped to that image point.

In some embodiments, the frequency of the radiation generated by thesource (e.g., the above transmit/receive unit 78) is modulated by acontrol signal. For example, in the above Gunnplexer 80 (FIG. 13A), thevaractor 90 can be employed to cause such a frequency modulation. Forexample, the frequency can be modulated rapidly (e.g., at a rate of 100kHz) over a relatively narrow range (e.g., 1% of the center frequency)to suppress coherent echoes, interference and/or speckle noise.Typically, the focal distance of the imager can represent about 100waves and the reflected intensity is acquired at a rate of, e.g., 5 kHz.In such a case, the frequency of the radiation generated by theGunnplexer can be modulated by about 1% at a rate of about 100 kHz tointroduce a one-wave phase shift as each image pixel is acquired.Intensity integration during this phase shift can significantly reducecoherent artifact noise. It should be appreciated that other frequencymodulation parameters can also be utilized based on the requirements ofa particular application.

Snapshot Embodiments

In some embodiments, the imager can provide an image of atwo-dimensional area while the imager (e.g., imager housing) remainsstationary (i.e., without the need to physically move the imager). Onesuch exemplary embodiment 118 shown in FIG. 15 includes atransmit/receive unit 120 for generating and detecting radiation, whichpreferably operates in a frequency range of about 1 GHz to about 2000GHz. A lens 122 optically coupled to the transmit/receive unit receivesthe radiation and focuses it into an object region 124 whose image isdesired. In some cases, the object region can be visibly hidden fromview by an opaque obstruction, e.g., a wall portion.

A scan mechanism 126 scans the radiation, which is directed by the lensto the region 124, over a plurality of locations in that region. Thelens and the scan mechanism can be configured to produce a plurality ofradiation scan patterns to cover (illuminate) at least a portion, e.g.,an object plane 124 a, within the region 124. The scan mechanismtypically moves the radiation within a plane (e.g., a planeperpendicular to the lens's optical axis) so as to generate a desiredradiation scan pattern. By way of example, FIGS. 16A, 16B, 16C depict,respectively, a spiral, a floret and a raster scan pattern suitable foruse in the practice of the invention. The spiral and the floret patternscan be generated, for example, by a combined rotation and radial motion(i.e., motion perpendicular to the optical axis) of the lens. The rasterpattern can be formed, in turn, by combination of two linear andorthogonal motions of the lens. In each case, the focused beam size(e.g., shown schematically by dashed lines in FIGS. 16A-16C) can beselected such that the radiation scan causes illumination of atwo-dimensional area of interest.

By way of example, FIG. 17 schematically depicts a radiation scanmechanism 200 optically coupled to the source for providing atwo-dimensional radiation scan. The mechanism 200 includes two rotatingreflective elements 201 and 202 that are configured to rotate about twoorthogonal axes (depicted schematically as axes A and B). The reflectiveelement 201 receives the radiation from the source and directs thatradiation to the other reflective element 202, which, in turn, directsthe radiation to the lens (not shown). The relative rotational rates ofthe two elements can be adjusted so as to obtain a variety of scanpatterns, such as those discussed above.

With reference to FIG. 15 as well as FIG. 17, one or more objects withinthe illuminated portion of the object region can reflect (and/orscatter) at least a portion of the incident radiation back towards thelens. For example, by way of illustration, a surface of an object 124 billuminated by the incident radiation can reflect a portion of thatradiation back to the lens 122. The lens 122, in turn, directs theback-propagating radiation to the transmit/receive unit 120 fordetection. Similar to the previous embodiment, the detector module ofthe transmit/receive unit generates an electrical signal (typically atime-varying signal) in response to detection of the back-propagatingradiation, and communicates this signal to a processor 128, e.g., via acommunications channel 130. The magnitude of the generated detectionsignal at a given time is proportional to the intensity of the reflectedradiation detected at that time. The processor also receives informationfrom a radiation scan sensor 132, e.g., via a communications channel134, regarding the position of the illuminating spot on the object planeas a function of time. For example, the scan sensor can provide theprocessor with information regarding the instantaneous orientation androtation rate of each of reflective elements 201 and 202. The processorcan convert this information to the position of the illuminating spot onthe object plane at any given time. The processor further utilizes thisinformation, e.g., in a manner discussed above, to generate a pluralityof image point coordinates, each corresponding to a coordinate in theobject plane. The processor further assigns a brightness value to eachimage point coordinate in proportion to the magnitude of the detectedsignal associated with an object point corresponding to that imagepoint. In this manner, the processor calculates an image correspondingto the illuminated portion.

Further, the processor generates a plurality of image drive signals forapplication to a display 136 for displaying the calculated image. Inthis embodiment, the processor and the display are disposed in separateenclosures with communication channels coupling the processor to thetransmit/receive unit as well as the lens position sensor. In otherembodiments, the various components of the imager can be housed in asingle, preferably handheld, enclosure.

In some embodiments, an imager according to the teachings of inventionis capable of acquiring images of a plurality of object planes locatedat different axial locations (e.g., at difference depths within anobstruction, such as a wall). For example, FIG. 18 schematically depictsan imager 138 according to another embodiment of the invention in whicha lens 140 (e.g., a diffractive element whose optical axis is offsetrelative to its rotation axis) can be axially moved (e.g., along thelens's rotation axis RA) so as to focus radiation generated by atransmit/receive unit 142 at different axial locations within an objectregion 144. For example, a rotational scan mechanism 146 can rotate thelens, and a focus-drive mechanism 148 can move the lens back-and-forthalong its rotational axis so as to focus radiation onto different objectplanes (e.g., exemplary planes 144 a and 144 b) within the object region144. A plurality of focus-drive mechanisms can be employed. By way ofexample, as shown schematically in FIG. 19, the focus drive mechanism300 can include a movable stage 301 on which the lens is mounted. Insome embodiments, the lens is coupled to a shaft mechanism that rotatesand simultaneously axially translates the lens. In such an embodiment,for each axial position of the lens, the rotation of the lens, togetherwith the translation of the imager, can result in scanning the radiationover a path within an object plane. In other embodiments, a zoom lenssystem can be employed for focusing the radiation on axially separatedobject planes.

In some embodiments, both transmit/receive unit 142 and lens are axiallytranslated, while preferably maintaining the separation between thetransmit/receive unit and the lens, to focus the radiation on planes atdifferent axial locations.

The radiation reflected from each object plane can be detected by thetransmit/receive unit, which generates an electrical signal in responseto such detection and transmits the signal to a processor 150 foranalysis. The imager further includes at least one lens position sensor152 coupled to the rotational scanner and the focus-drive mechanism fordetermining the axial position as well as the rotational orientation ofthe lens (in some embodiments, the functionality of the position sensor152 can be provided by two separate sensors, one for determining thelens's axial position and the other for determining the lens'srotational orientation). By way of example, the lens position sensor canbe implemented as a shaft encoder. The sensor 152 transmits theinformation regarding the lens's axial position and rotationalorientation to the processor 150. The processor employs this informationto temporally correlate the detection signal generated by the detectorto different object planes, and for each object plane, to a plurality ofcoordinate positions in that plane. In this manner, the processor canbuild up a plurality of images, each corresponding to a different depthwithin the object region. The processor can further generate image drivesignals for application to a display 154 for displaying these images,e.g., as a three-dimensional image. In some cases, the processor cancause the display to present selected ones of these images, or presentthem in a selected sequence, or in any other desired manner.

Although a transmit/unit is employed in the imager 138, in otherembodiments, separate source and detector can be employed to generateand detect the radiation, for example, in a manner shown in the aboveimager 10 (FIG. 1). Further, the imager 118 discussed above, whichprovides a two-dimensional image of an area of interest whilestationary, can be similarly modified to provide a plurality oftwo-dimensional images at different depths in a region of interest.

In another embodiment, the longitudinal chromatic aberration of the lenscan be employed to focus radiation from a source at a plurality of atdifferent depths (e.g., onto a plurality of object planes located atdifferent axial distances from the lens). For example, the frequency ofthe radiation generated by a source can be varied (tuned) such that thechromatic aberration exhibited by the lens would result in focusingdifferent frequencies at different axial locations from the lens.

By way of example, FIG. 20 schematically depicts such an embodiment 156in which a varactor diode 158 is employed to tune the frequency of aradiation source 160 of a Gunnplexer 162. A processor 164 incommunication with the Gunnplexer can receive information regarding thefrequency of radiation as a function of time. The processor employs thisinformation to temporally correlate detection signals corresponding tothe detected back-propagating radiation with different axial locationsfrom the lens. Images of different portions (e.g., different objectplanes such as exemplary object planes 166 and 168) can then be built upand displayed, e.g., in a manner similar to that discussed above, in adisplay 170.

Telecentric Embodiments

FIG. 21 schematically illustrates an imager (camera) 172 in accordancewith another embodiment of the invention that employs a telecentricarrangement of optical elements to acquire an image. The imagercomprises a two-element lens system 174 composed of a rotating eccentricpupil lens 176 and a fixed centered lens 178. Fixed lens 178 isillustrated as embedded in a square-shaped surround 180 for clarityonly; the surround emphasizes that lens 178 is fixed. The function ofthe eccentric pupil lens 176 can be understood as being similar to acombination of a collimating lens and a wedge prism. By way of example,a lens portion cut from an edge of a spherical lens or a zone plate lenscan be utilized as the lens eccenric lens 176. Other ways of forming thelens 176 are also known to those having ordinary skill in the art.

In the exemplary imager 172, the lens 176 is disposed relative to anemitting aperture of a radiation source 182 at a distance equal to oneof its focal lengths. The lens 176 converts an expanding cone ofradiation generated by the source into a generally collimated radiationbeam, and directs the collimated beam in a predetermined off-axisdirection, as shown schematically in FIG. 21. The fixed lens 178 is, inturn, disposed at a selected distance from the lens 176 so as to focusthe collimated beam generated by the lens 176 into a point image 184 ina plane at one of its focal lengths in the vicinity of an object region184 a. A scan radius R_(s) (i.e., a radial distance betweenoptical/rotation axis [RA,OA] and the image 184) can be estimated as theproduct of the angle of propagation of the collimated beam and the focallength of the fixed lens 178. R_(s) is independent of the distancebetween the rotating lens 176 and the fixed lens 178. In someembodiments, the fixed lens 178 can be axially moved, e.g., by utilizingmechanisms such as those discussed above in connection with some of theprevious embodiments, so as to focus the radiation at different axiallocations relative to the imager (e.g., at different depths of a wall orother obstruction). For example, the imager can be held at a generallyfixed distance from a planar surface while the lens 178 is axially movedto focus the radiation at different axial distances from that surface.

Preferably, the separation between the lenses 176 and 178 issubstantially equal to the focal length of the fixed lens 178. In such acase, the fixed lens 178 forms the image 184 with an imaging cone ofradiation whose chief ray is parallel to the optical axis. When the lens178 is axially moved, the separation between the two lenses can deviatefrom this preferred value, although in some embodiments, both lenses canbe moved so as to provide a depth of scan of the radiation whilemaintaining the separation between the lenses substantially equal to thepreferred value.

EXAMPLE

A prototype imager made based on the above teachings of the invention isdiscussed in the following example for further illustration of variousaspects of the invention. It should, however, be understood that this isintended only for illustrative purposes, and not for indicating optimalperformance of imagers according to the teachings of the invention, orto suggest that the specific arrangement of the various opticalcomponents and other design parameters utilized in the prototype are inany way meant to limit the scope of the invention.

The prototype imaging system based on the teachings of the invention wasfabricated by utilizing a Gunn oscillator operating at a frequency of24.15 GHz (a wavelength of about 12.4 millimeters) as the emittingsource. The Gunn oscillator was coupled to a 10 dB feedhorn, with anexit aperture having dimensions of 15 by 11 mm, so as to output a coneof linearly polarized radiation at a power of 5 mW with an angularspread of +/−57 degrees.

After passage through a 45-degree wire grid polarizer (composed of 30gauge wires with 0.8 mm center spacing disposed on an Acrylic frame),the radiation from the oscillator was focused to a focal point by anF/0.6 quarter-wave focusing lens, formed of Low Density Polyethylene(LDPE). The lens was configured to image the radiation at a focal spotapproximately 100 mm off the lens's optical axis. The distance of thesource from the lens (about 125 mm) was substantially equal to that ofthe image from the lens, thus resulting in a magnification of about 1.

A 32 mm thick birefringent quarter-wave plate, composed of an array of2.5 mm wide slots cut into a LPDE sheet, was placed between the lens andthe focal point. The slots of the quarter-wave plate were oriented at 45degrees relative to the polarization axis of the incident beam, thusconverting the beam's linear polarization to circular polarization. Uponreflection from an object at the focal point and a second passagethrough the quarter-wave plate, the beam's circular polarization wasconverted back to linear polarization, albeit with a 90-degree rotationrelative to the polarization axis of the incident beam. Theback-propagating radiation was then transmitted by the wire gridpolarizer to a second Gunn oscillator having an integrated mixer(receiver). The optical system effectively operated in a confocal mode,where the diffracted radiation spot served to illuminate an object andradiation reflected (or scattered) from the object was focused backthrough a small aperture (the feedhorn entrance) to the mixer detector.

The emitter and receiver Gunn oscillators were tuned to have a frequencymismatch of approximately 2 MHz. This frequency mismatch causesradiation reflected by an object at the focal point and relayed to thereceiver to generate a 2 MHz beat frequency signal. The beat frequencywas amplified, low-pass filtered (frequency cutoff was about 500 Hz) andrectified. The rectified signal was, in turn, fed to a computer dataacquisition system.

By rotating the lens at 300 revolutions-per-minute (rpm), a circularlyscanned “probe spot” was generated. A magnet and a Hall effect sensorwere utilized to measure the rotational position of the lens. Objectimaging was accomplished by moving objects transversely through thescanning focused spot. A sheet of gypsum wallboard having a thickness ofabout ⅝ inches (15.9 cm) was placed between the lens and the focal planeof the probe spot. Radiation passing through the wallboard interactedwith various test objects (e.g., wires, pipes, human skin, etc). Asoftware program was utilized to use the rotational position of the lensso as to determine the Cartesian Coordinates of locations on the focalplane from which the detected reflected radiation originated. Thisinformation was utilized, in a manner discussed in detail above, toconstruct images of objects that were moved transversely through thescanned field.

FIGS. 22A-22E show some illustrative images obtained by the aboveprototype, illustrating that objects formed from a variety of differentmaterials (e.g., wood, metal, plastic) with features as small as 6 mmcan be imaged behind a gypsum wallboard with contrast ratios as high as10:1.

As noted above, the above prototype was discussed only for illustrativepurposes. The particular selections and arrangements of the opticalcomponents (e.g., source, lens and receiver) were made only by way ofexample. Alternative components and arrangements can also be utilized.For example, sources operating at other wavelengths can be employed.

It should be understood that various modifications can be made to theabove illustrative embodiments without departing from the scope of theinvention. For example, a variety of different lenses can be utilized.The lenses can be fabricated, e.g., as zone plates, parallel metalplates, dielectric materials. Further, the optics can be designed asconfocal, near confocal, telecentric, or dark field. The scanning of theradiation can be one or two-dimensional (radial, tangential, raster, ora combination thereof). The camera body location-determining subsystemcan be internal or external to the camera body. Further, the locationsensing technology can be mechanical, optical, RF or any suitable mode.

1. An imaging system, comprising: a source of electromagnetic radiationcapable of generating radiation with one or more frequencies in a rangeof about 1 GHz to about 2000 GHz, an optical system optically coupled tosaid source so as to focus radiation received therefrom onto an objectplane, said optical system directing at least a portion of the focusedradiation propagating back from the object plane onto an image plane, ascan mechanism coupled to said optical system for controlling thereof soas to move the focused radiation over the object plane, a detectoroptically coupled to said optical system at the image plane to detect atleast a portion of the radiation propagating back from a plurality ofscanned locations in the object plane, thereby generating atime-dependent detection signal, and a processor in communication withthe detector to generate an image of at least a portion of the objectplane based on said detection signal
 2. The imaging system of claim 1,wherein said processor maps variation of said varying detection signalto one or more respective locations in the object plane from which theback-propagating radiation giving rise to that detection signaloriginates.
 3. The imaging system of claim 1, further comprising aposition sensor coupled to the scan mechanism for determining a positionthereof relative to a reference position.
 4. The imaging system of claim3, wherein said position sensor is in communication with said processorto communicate the position of the scan mechanism to the processor. 5.The imaging system of claim 1, further comprising a display incommunication with said processor for displaying said image.
 6. Theimaging system of claim 1, wherein said scan mechanism causes theoptical system to generate a generally elliptical scan pattern of theradiation over the object plane.
 7. The imaging system of claim 6,wherein said scan mechanism causes the optical system to generate acircular scan pattern of the radiation over the object plane. 8.(canceled)
 9. (canceled)
 10. (canceled)
 11. The imaging system of claim1, wherein said system is adapted to be moved by a user so as to scanthe radiation, in combination with said scan mechanism, in twodimensions in the object plane.
 12. The imaging system of claim 11,wherein said detection signal corresponds to back-propagating radiationoriginating from scanned locations in the object plane.
 13. The imagingsystem of claim 12, wherein said processor maps a variation of saiddetection signal to said scanned locations so as to generate an image ofa region in said object plane including said scanned locations.
 14. Theimaging system of claim 11, wherein for each image point coordinatecorresponding to one of said scanned locations, the display presents abrightness proportional to a strength of the detection signalcorresponding to back-propagating radiation from that scanned location.15. The imaging system of claim 11, further comprising means forgenerating data indicative of locations and orientations of said systemas the system is moved by the user and communicating said data to theprocessor, said processor utilizing said data to map the detectionsignal to the scanned locations.
 16. The imaging system of claim 1,wherein said radiation source and said detector are formed as a singletransmit/receive module operating in said frequency range of about 1 GHzto about 2000 GHz.
 17. The imaging system of claim 1, further comprisinga portable housing containing said radiation source, said opticalsystem, said scan mechanism and said detector.
 18. The imaging system ofclaim 17, further comprising an electronic processing and display module(EPDM) that includes said processor.
 19. The imaging system of claim 18,wherein said EPDM is integrated within said portable housing.
 20. Theimaging system of claim 17, further comprising a second housing,separate from said portable housing, for containing said EPDM, saidsecond housing being in data or signal communication with said portablehousing.
 21. The imaging system of claim 20, wherein said EPDM comprisesa display module for displaying said image.
 22. (canceled) 23.(canceled)
 24. (canceled)
 25. (canceled)
 26. (canceled)
 27. The imagingsystem of claim 1, wherein the processor correlates a plurality ofpartially overlapping image frames to form said image.
 28. The imagingsystem of claim 27, wherein said processor utilizes one or more pixelsin an overlap region of two image frames as reference to determinerelative positions of the other pixels in the two image frames. 29.(canceled)
 30. (canceled)
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 33. A portableimager, comprising a source for generating electromagnetic radiationwith one or more frequency components in a range of about 1 GHz to about2000 GHz, means for directing radiation from the source to an objectplane and directing at least a portion of the radiation propagating backfrom the object plane to an image plane, means coupled to theradiation-directing means for controlling thereof so as to scan theradiation over at least a portion of the object plane, means fordetecting radiation propagating back from a plurality of scannedlocations in the object plane and generating a detection signal, andmeans for analyzing said detection signal so as to generate an image ofat least a portion of the object plane.
 34. An imaging system,comprising a handheld housing, comprising a source of electromagneticradiation capable of generating radiation having one or more frequenciesin a range of about 1 GHz to about 2000 GHz, a focusing system fordirecting radiation generated by the source onto an object plane anddirecting at least a portion of the radiation propagating back from theobject plane onto an image plane, a scan mechanism coupled to saidfocusing system for controlling thereof so as to provide aone-dimensional scan of the radiation over the object plane, a detectoroptically coupled to said focusing system at the image plane to detectat least a portion of said back-propagating radiation to generate atime-dependent detection signal, and a processor coupled to the detectorto receive said detection signal, wherein said housing is adapted formovement so as to scan the radiation, in combination saidone-dimensional scan, over a plurality of locations in a two-dimensionalregion of the object plane.
 35. The imaging system of claim 34, whereinthe processor generates an image of said region based on the detectionsignal corresponding to the scanned locations.
 36. The imaging system ofclaim 34, wherein said one-dimensional scan is characterized by agenerally elliptical path over the object plane.
 37. The imaging systemof claim 35, wherein the processor maps the detection signal temporallyto one or more of said scanned locations for generating said image. 38.The imaging system of claim 35, further comprising a display incommunication with said processor for displaying said image. 39.(canceled)
 40. (canceled)
 41. (canceled)
 42. (canceled)
 43. (canceled)44. An imaging system, comprising: a housing adapted for movement over asurface located at a distance from an object plane, a transmit/receivemodule disposed in said housing for generating and detectingelectromagnetic radiation, an optical system optically coupled to thetransmit/receive module to focus radiation received therefrom onto theobject plane, said lens directing at least a portion of radiationpropagating back from the object plane onto the transmit/receive module,a scanning mechanism coupled to the lens for rotating a focusing elementof the optical system about a rotation axis thereby moving said focusedradiation over a region of the object plane, a position sensor incommunication with said scanning mechanism to generate signalsindicative of position of the lens relative to a reference position, asubsystem disposed in said housing for generating signals indicative oflocation of said housing on the surface as the housing is moved overthat surface, and a processor in communication with saidtransmit/receive module, said position sensor and said subsystem,wherein said processor generates an image of at least a portion of saidobject plane based on said detected back-propagating radiation andsignals generated by said position sensor and said subsystem.
 45. Theimaging system of claim 44, wherein said lens and scanning mechanism aredisposed in the housing.
 46. The imaging system of claim 44, whereinsaid location-determining subsystem comprises one or more inertialsensors.
 47. The imaging system of claim 44, further comprising adisplay in communication with said processor for displaying said image.48. The imaging system of claim 44, wherein said processor generates aset of image point coordinates in a coordinate space of the object planebased on signals received from said position sensor and saidlocation-determining subsystem.
 49. The imaging system of claim 47,wherein said processor applies a plurality of image drive signals tosaid display so as to effect display of said image.
 50. (canceled) 51.(canceled)
 52. (canceled)
 53. (canceled)
 54. The imaging system of claim44, wherein said focusing element comprises a diffractive opticalelement.
 55. The imaging system of claim 54, wherein said diffractiveoptical element comprises diffractive zones disposed about an opticalaxis that is offset from said rotation axis.
 56. (canceled) 57.(canceled)
 58. (canceled)
 59. (canceled)
 60. (canceled)
 61. (canceled)62. (canceled)
 63. (canceled)
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 67. (canceled)
 68. A method of imaging, comprising providinga source of electromagnetic radiation capable of generating radiationwith one or more frequency components in a range of about 1 GHz to about2000 GHz, focusing radiation from the source onto an object plane,scanning the focused radiation over at least a portion of the objectplane, detecting at least a portion of the radiation propagating backfrom the object plane thereby generating a time-dependent detectionsignal, and analyzing said detection signal to form an image of thescanned portion of the object plane.
 69. The method of claim 68, whereinthe step of focusing radiation further comprises directing the radiationto the object plane along a direction forming a non-zero angle relativeto a normal to the object plane.
 70. The method of claim 69, whereinsaid angle is about 7 degrees.
 71. (canceled)
 72. (canceled)